@inproceedings{Chen2022ICRA, title = {{FEJ2}: A Consistent Visual-Inertial State Estimator Design}, author = {Chuchu Chen and Yulin Yang and Patrick Geneva and Guoquan Huang}, year = 2022, booktitle = {International Conference on Robotics and Automation (ICRA)}, address = {Philadelphia, USA}, } @inproceedings{Corcoran2016ICRA, title = {Unsupervised Trajectory Compression}, author = {Padraig Corcoran and Peter Mooney and Guoquan Huang}, year = 2016, month = may, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Stockholm, Sweden}, } @inproceedings{Eckenhoff2015CCC, title = {State-Transition and Observability Constrained {EKF} for Multi-robot Cooperative Localization}, author = {Kevin Eckenhoff and Guoquan Huang}, year = 2015, month = jul, booktitle = {Proc. of the Chinese Control Conference}, address = {Hangzhou, China}, pages = {7404--7410}, doi = {10.1109/ChiCC.2015.7260813}, } @inproceedings{Eckenhoff2016IROS, title = {Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based {SLAM}}, author = {Kevin Eckenhoff and Liam Paull and Guoquan Huang}, year = 2016, month = oct, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems}, address = {Daejeon, Korea}, pages = {3275--3282}, } @conference{Eckenhoff2016RSSws, title = {Decoupled, Consistent Node Removal and Edge Sparsification for Graph-based {SLAM}}, author = {Kevin Eckenhoff and Liam Paull and Guoquan Huang}, year = 2016, month = jun, booktitle = {Proc. of the RSS Workshop on Geometry and Beyond: Representations, Physics, and Scene Understanding for Robotics}, address = {Ann Arbor, MI}, } @inproceedings{Eckenhoff2016WAFR, title = {High-Accuracy Preintegration for Visual-Inertial Navigation}, author = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang}, year = 2016, month = dec, booktitle = {Proc. of the International Workshop on the Algorithmic Foundations of Robotics}, address = {San Francisco, CA}, } @inproceedings{Eckenhoff2017ICRA, title = {Direct Visual-Inertial Navigation with Analytical Preintegration}, author = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang}, year = 2017, month = may, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Singapore}, pages = {1429--1435}, } @conference{Eckenhoff2018ICRAws, title = {Dynamic Target Interception in Cluttered Environments}, author = {Kevin Eckenhoff and Indrajeet Yadav and Guoquan Huang and Herbert Tanner}, year = 2018, month = may, booktitle = {RT-DUNE ICRA 2018 Workshop}, address = {Brisbane, Australia}, } @inproceedings{Eckenhoff2019ICRAa, title = {Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration}, author = {Kevin Eckenhoff and Patrick Geneva and Jesse Bloecker and Guoquan Huang}, year = 2019, month = may, booktitle = {Proc. International Conference on Robotics and Automation}, address = {Montreal, Canada}, } @inproceedings{Eckenhoff2019ICRAb, title = {Sensor-Failure-Resilient Multi-IMU Visual-Inertial Navigation}, author = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang}, year = 2019, month = may, booktitle = {Proc. International Conference on Robotics and Automation}, address = {Montreal, Canada}, } @article{Eckenhoff2019IJRR, title = {Closed-form Preintegration Methods for Graph-based Visual-Inertial Navigation}, author = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang}, year = 2019, journal = {International Journal of Robotics Research}, volume = 38, number = 5, pages = {563--586}, } @article{Eckenhoff2019RAL, title = {Tightly-Coupled Visual-Inertial Localization and {3D} Rigid-Body Target Tracking}, author = {Kevin Eckenhoff and Yulin Yang and Patrick Geneva and Guoquan Huang}, year = 2019, journal = {IEEE Robotics and Automation Letters (RA-L)}, volume = 4, number = 2, pages = {1541--1548}, } @phdthesis{Eckenhoff2020, title = {Towards Robust Visual-Inertial Estimation}, author = {Kevin Eckenhoff}, year = 2020, school = {{University of Delaware}}, timestamp = {2020-09-02}, } @inproceedings{Eckenhoff2020ICRA, title = {Schmidt-EKF-based Visual-Inertial Moving Object Tracking}, author = {Kevin Eckenhoff and Patrick Geneva and Nathaniel Merrill and Guoquan Huang}, year = 2020, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Paris, France}, } @article{Eckenhoff2021TRO, title = {{MIMC-VINS}: A Versatile and Resilient Multi-IMU Multi-Camera Visual-Inertial Navigation System}, author = {Kevin Eckenhoff and Patrick Geneva and Guoquan Huang}, year = 2021, journal = {IEEE Transactions on Robotics}, volume = 37, number = 5, pages = {1360--1380}, doi = {10.1109/TRO.2021.3049445}, } @conference{Geneva2017PPNIV, title = {Asynchronous Multi-Sensor Fusion for {3D} Mapping and Localization}, author = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang}, year = 2017, month = sep, booktitle = {Proc. of the 9th Workshop on Planning, Perception and Navigation for Intelligent Vehicles}, address = {Vancouver, Canada}, } @inproceedings{Geneva2018ICRA, title = {Asynchronous Multi-Sensor Fusion for 3D Mapping and Localization}, author = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang}, year = 2018, month = may, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Brisbane, Australia}, } @inproceedings{Geneva2018IROS, title = {{LIPS}: LiDAR-Inertial 3D Plane SLAM}, author = {Patrick Geneva and Kevin Eckenhoff and Yulin Yang and Guoquan Huang}, year = 2018, month = oct, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems}, address = {Madrid, Spain}, } @inproceedings{Geneva2019CVPR, title = {An Efficient Schmidt-EKF for {3D} Visual-Inertial {SLAM}}, author = {Patrick Geneva and James Maley and Guoquan Huang}, year = 2019, month = jun, booktitle = {Proc. Conference on Computer Vision and Pattern Recognition (CVPR)}, address = {Long Beach, CA}, } @inproceedings{Geneva2019ICRA, title = {A Linear-Complexity {EKF} for Visual-Inertial Navigation with Loop Closures}, author = {Patrick Geneva and Kevin Eckenhoff and Guoquan Huang}, year = 2019, month = may, booktitle = {Proc. International Conference on Robotics and Automation}, address = {Montreal, Canada}, } @conference{Geneva2019IROSws, title = {{OpenVINS:} A Research Platform for Visual-Inertial Estimation}, author = {Patrick Geneva and Kevin Eckenhoff and Woosik Lee and Yulin Yang and Guoquan Huang}, year = 2019, month = nov, booktitle = {{IROS} 2019 Workshop on Visual-Inertial Navigation: Challenges and Applications}, address = {Macau, China}, url = {https://github.com/rpng/open_vins}, } @inproceedings{Geneva2020ICRA, title = {{OpenVINS:} A Research Platform for Visual-Inertial Estimation}, author = {Patrick Geneva and Kevin Eckenhoff and Woosik Lee and Yulin Yang and Guoquan Huang}, year = 2020, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Paris, France}, url = {https://github.com/rpng/open_vins}, } @inproceedings{Geneva2020IROS, title = {Versatile 3D Multi-Sensor Fusion for Lightweight 2D Localization}, author = {Patrick Geneva and Nathaniel Merrill and Yulin Yang and Chuchu Chen and Woosik Lee and Guoquan Huang}, year = 2020, booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems}, address = {Las Vegas, NV}, } @inproceedings{Geneva2022ICRA, title = {Map-based Visual-Inertial Localization: A Numerical Study}, author = {Patrick Geneva and Guoquan Huang}, year = 2022, booktitle = {International Conference on Robotics and Automation (ICRA)}, address = {Philadelphia, USA}, } @article{Han2018AURO, title = {Sequence-Based Sparse Optimization Methods for Long-Term Loop Closure Detection in Visual {SLAM}}, author = {Fei Han and Hua Wang and Guoquan Huang and Hao Zhang}, year = 2018, journal = {Autonomous Robots}, volume = 42, number = 7, pages = {1323--1335}, } @inproceedings{Hu2022ICRA, title = {1D-LRF Aided Visual-Inertial Odometry for High-Altitude MAV Flight}, author = {Jiaxin Hu and Jun Hu and Y-J. Shen and Xiaomin Lang and Bo Zang and Guoquan Huang and Yinian Mao}, year = 2022, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Philadelphia, PA}, } @inproceedings{Huai2018IROS, title = {Robocentric Visual-Inertial Odometry}, author = {Zheng Huai and Guoquan Huang}, year = 2018, month = oct, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems}, address = {Madrid, Spain}, } @article{Huai2019IJRR, title = {Robocentric Visual-Inertial Odometry}, author = {Zheng Huai and Guoquan Huang}, year = 2019, month = apr, journal = {International Journal of Robotics Research}, } @inproceedings{Huai2021ICRA, title = {Markov Parallel Tracking and Mapping for Probabilistic SLAM}, author = {Zheng Huai and Guoquan Huang}, year = 2021, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Xi'an, China}, } @techreport{Huang2002thesis, title = {Dynamic Data Transmission in Industrial Control Systems}, author = {Guoquan Huang}, year = 2002, month = jul, institution = {University of Science and Technology Beijing, China}, school = {Department of Automation, University of Science and Technology Beijing}, } @inproceedings{Huang2004CICMA, title = {Incorporate Motion Tracking into Map Building in Dynamic Indoor Environments}, author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong}, year = 2004, month = jul, booktitle = {Proc. of the International Conference on Computational Intelligence for Modelling, Control \& Automation}, pages = {241--251}, url = {http://people.csail.mit.edu/ghuang/paper/hk/cimca04.pdf}, } @inproceedings{Huang2004RAM, title = {SLAM with MTT: theory and initial results [mobile robot localisation]}, author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong and Y.L. Ip}, year = 2004, month = dec, booktitle = {Proc. of the IEEE Conference on Robotics, Automation and Mechatronics}, volume = 2, pages = {834--839}, doi = {10.1109/RAMECH.2004.1438026}, } @inproceedings{Huang2005ICAR, title = {Online {SLAM} in dynamic environments}, author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong}, year = 2005, month = jul, booktitle = {Proc. of the International Conference on Advanced Robotics}, address = {Seattle, WA}, pages = {262--267}, doi = {10.1109/ICAR.2005.1507422}, } @article{Huang2006IJARS, title = {A New Solution to Map Dynamic Indoor Environments}, author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong}, year = 2006, journal = {International Journal of Advanced Robotic Systems}, volume = 3, number = 2, pages = {199--210}, doi = {10.5772/5737}, } @article{Huang2007AR, title = {Heterogeneous Multisensor Fusion for Mapping Dynamic Environments}, author = {Guoquan Huang and Ahmad B. Rad and Yiu-Kwong Wong and Ying-Leung Ip}, year = 2007, journal = {Advanced Robotics}, volume = 21, number = {5-6}, pages = {661--688}, doi = {10.1163/156855307780108268}, } @inproceedings{Huang2008ICRA, title = {Analysis and Improvement of the Consistency of Extended {K}alman Filter-Based {SLAM}}, author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2008, month = may, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Pasadena, CA}, pages = {473--479}, doi = {10.1109/ROBOT.2008.4543252}, } @inproceedings{Huang2008IFAC, title = {An Optimal Graph Theoretic Approach to Data Association in {SLAM}}, author = {Guoquan Huang and Xinzheng Zhang and Ahmad B. Rad and Yiu-Kwong Wong}, year = 2008, month = jul, booktitle = {Proc. of the International Federation of Automatic Control}, address = {Seoul, Korea}, volume = 17, pages = {14669--14674}, doi = {10.3182/20080706-5-KR-1001.02484}, } @inproceedings{Huang2008ISER, title = {A First-Estimates {J}acobian {EKF} for Improving {SLAM} Consistency}, author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2008, month = jul, booktitle = {Proc. of the 11th International Symposium on Experimental Robotics}, address = {Athens, Greece}, } @techreport{Huang2008TechUMN1, title = {An Observability Constrained UKF for Improving SLAM Consistency}, author = {Guoquan Huang and Stergios I. Roumeliotis}, year = 2008, month = aug, url = {http://www-users.cs.umn.edu/~ghuang/paper/TR_OC-UKF.pdf}, institution = {UMN Multiple Autonomous Robotic Systems (MARS) Laboratory}, } @techreport{Huang2008TechUMN2, title = {Generalized Analysis and Improvement of the Consistency of Extended Kalman Filter based SLAM}, author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2008, month = jan, url = {http://www-users.cs.umn.edu/~ghuang/paper/TR_slam_genconsistency.pdf}, institution = {UMN Multiple Autonomous Robotic Systems (MARS) Laboratory}, } @incollection{Huang2009ERB, title = {A First-Estimates Jacobian {EKF} for Improving {SLAM} Consistency}, author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2009, booktitle = {Experimental Robotics}, publisher = {Springer Berlin Heidelberg}, series = {Springer Tracts in Advanced Robotics}, volume = 54, pages = {373--382}, doi = {10.1007/978-3-642-00196-3_43}, editor = {Oussama Khatib and Vijay Kumar and George J. Pappas}, } @inproceedings{Huang2009ICRA, title = {On the Complexity and Consistency of {UKF}-based {SLAM}}, author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2009, month = may, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Kobe, Japan}, pages = {4401--4408}, doi = {10.1109/ROBOT.2009.5152793}, } @inproceedings{Huang2009RSS, title = {On the Consistency of Multi-robot Cooperative Localization}, author = {Guoquan Huang and Nikolas Trawny and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2009, month = jun, booktitle = {Proc. of the Robotics: Science and Systems}, address = {Seattle, WA}, pages = {65--72}, } @techreport{Huang2009TechUMN, title = {On the Consistency of Multi-robot Cooperative Localization}, author = {Guoquan Huang and Nikolas Trawny and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2009, month = jan, url = {http://www-users.cs.umn.edu/~ghuang/paper/TR_CL_Consistency.pdf}, institution = {UMN Multiple Autonomous Robotic Systems (MARS) Laboratory}, } @inproceedings{Huang2010ACC, title = {A Bank of {MAP} Estimators for Single-Sensor Range-only Target Tracking}, author = {Guoquan Huang and Ke X. Zhou and Nikolas Trawny and Stergios I. Roumeliotis}, year = 2010, month = jun, booktitle = {Proc. of the American Control Conference}, address = {Baltimore, MD}, pages = {6974--6980}, doi = {10.1109/ACC.2010.5531337}, } @article{Huang2010IJRR, title = {Observability-based Rules for Designing Consistent {EKF SLAM} Estimators}, author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2010, month = apr, journal = {International Journal of Robotics Research}, volume = 29, number = 5, pages = {502--528}, doi = {10.1177/0278364909353640}, } @techreport{Huang2010TechUMN, title = {Target Tracking Using a Bank of MAP Estimators}, author = {Guoquan Huang and Stergios I. Roumeliotis}, year = 2010, month = aug, doi = {http://people.csail.mit.edu/ghuang/paper/tr/TR_BMAPTT.pdf}, institution = {UMN Multiple Autonomous Robotic Systems (MARS) Laboratory}, } @article{Huang2011AURO, title = {Observability-based Consistent {EKF} Estimators for Multi-robot Cooperative Localization}, author = {Guoquan Huang and Nikolas Trawny and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2011, month = jan, journal = {Autonomous Robots}, volume = 30, number = 1, pages = {99--122}, doi = {10.1007/s10514-010-9207-y}, } @inproceedings{Huang2011ICRA, title = {Bearing-only Tracking Using a Bank of {MAP} Estimators}, author = {Guoquan Huang and Ke X. Zhou and Nikolas Trawny and Stergios I. Roumeliotis}, year = 2011, month = may, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Shanghai, China}, pages = {4998--5005}, doi = {10.1109/ICRA.2011.5980515}, } @inproceedings{Huang2011IROS, title = {An Observability Constrained Sliding Window Filter for {SLAM}}, author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2011, month = sep, booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems}, address = {San Francisco, CA}, pages = {65--72}, doi = {10.1109/IROS.2011.6095161}, } @techreport{Huang2011TechUMN, title = {An Observability-Constrained Sliding-Window Filter for SLAM}, author = {Guoquan Huang and Stergios I. Roumeliotis}, year = 2011, month = feb, url = {http://www.cs.umn.edu/~ghuang/paper/TR_OCMMAP.pdf}, institution = {UMN Multiple Autonomous Robotic Systems (MARS) Laboratory}, } @phdthesis{Huang2012thesis, title = {Improving the Consistency of Nonlinear Estimators: Analysis, Algorithms, and Applications}, author = {Guoquan Huang}, year = 2012, url = {https://conservancy.umn.edu/handle/11299/146717}, school = {Department of Computer Science and Engineering, University of Minnesota}, } @inproceedings{Huang2013ACC, title = {On Filter Consistency of Discrete-time Nonlinear Systems with Partial-state Measurements}, author = {Guoquan Huang and Stergios I. Roumeliotis}, year = 2013, month = jun, booktitle = {Proc. of the American Control Conference}, address = {Washington, DC}, pages = {5468--5475}, doi = {10.1109/ACC.2013.6580693}, } @inproceedings{Huang2013ECMRa, title = {Consistent Sparsification for Graph Optimization}, author = {Guoquan Huang and Michael Kaess and John Leonard}, year = 2013, month = sep, booktitle = {Proc. of the European Conference on Mobile Robots}, address = {Barcelona, Spain}, pages = {150--157}, doi = {10.1109/ECMR.2013.6698835}, } @inproceedings{Huang2013ECMRb, title = {Unscented {iSAM}: A Consistent Incremental Solution to Cooperative Localization and Target Tracking}, author = {Guoquan Huang and Robert Truax and Michael Kaess and John Leonard}, year = 2013, month = sep, booktitle = {Proc. of the European Conference on Mobile Robots}, address = {Barcelona, Spain}, pages = {248--254}, doi = {10.1109/ECMR.2013.6698850}, } @inproceedings{Huang2013ICASSP, title = {Analytically-Selected Multi-Hypothesis Incremental {MAP} Estimation}, author = {Guoquan Huang and Michael Kaess and John Leonard and Stergios I. Roumeliotis}, year = 2013, month = may, booktitle = {Proc. of the IEEE International Conference on Acoustics, Speech and Signal Processing}, address = {Vancouver, Canada}, pages = {6481--6485}, doi = {10.1109/ICASSP.2013.6638914}, } @inproceedings{Huang2013ICRA, title = {Analyticlly-Guided-Sampling Particle Filter Applied to Range-only Target Tracking}, author = {Guoquan Huang and Stergios I. Roumeliotis}, year = 2013, month = may, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Karlsruhe, Germany}, pages = {3168--3175}, doi = {10.1109/ICRA.2013.6631018}, } @techreport{Huang2013TechCSAIL, title = {Towards Consistent Visual-Inertial Navigation}, author = {Guoquan Huang}, year = 2013, month = sep, url = {http://people.csail.mit.edu/ghuang/paper/tr/stocvins.pdf}, institution = {MIT Computer Science and Artificial Intelligence Laboratory (CSAIL)}, } @article{Huang2013TRO, title = {A Quadratic-Complexity Observability-Constrained Unscented {Kalman} Filter for {SLAM}}, author = {Guoquan Huang and Anastasios I. Mourikis and Stergios I. Roumeliotis}, year = 2013, month = oct, journal = {IEEE Transactions on Robotics}, volume = 29, number = 5, pages = {1226--1243}, doi = {10.1109/TRO.2013.2267991}, } @inproceedings{Huang2014ICRA, title = {Towards Consistent Visual-Inertial Navigation}, author = {Guoquan Huang and Michael Kaess and John Leonard}, year = 2014, month = may, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Hong Kong, China}, pages = {4926--4933}, doi = {10.1109/ICRA.2014.6907581}, } @article{Huang2014TRO, title = {A Bank of Maximum A Posteriori {(MAP)} Estimators for Target Tracking}, author = {Guoquan Huang and Ke Zhou and Nikolas Trawny and Stergios I. Roumeliotis}, year = 2015, month = jan, journal = {IEEE Transactions on Robotics}, volume = 31, number = 1, pages = {85--103}, doi = {10.1109/TRO.2014.2378432}, } @inproceedings{Huang2015ISRR, title = {Optimal-State-Constraint {EKF} for Visual-Inertial Navigation}, author = {Guoquan Huang and Kevin Eckenhoff and John Leonard}, year = 2015, month = sep, booktitle = {Proc. of the International Symposium on Robotics Research}, address = {Sestri Levante, Italy}, } @article{Huang2015RAS, title = {Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking}, author = {Guoquan Huang and Michael Kaess and John Leonard}, year = 2015, month = jul, journal = {Robotics and Autonomous Systems}, volume = 69, pages = {52--67}, doi = {10.1016/j.robot.2014.08.007}, } @article{Huang2017AR, title = {Particle Filtering with Analytically Guided Sampling}, author = {Guoquan Huang}, year = 2017, journal = {Advanced Robotics}, volume = 31, number = 17, pages = {932--945}, } @article{Huang2017SCL, title = {Towards Consistent Filtering for Discrete-Time Partially-Observable Nonlinear Systems}, author = {Guoquan Huang}, year = 2017, month = aug, journal = {Systems and Control Letters}, volume = 106, pages = {87--95}, } @incollection{Huang2018RR, title = {Optimal-State-Constraint EKF for Visual-Inertial Navigation}, author = {Guoquan Huang and Kevin Eckenhoff and John Leonard}, year = 2018, booktitle = {Robotics Research}, publisher = {Springer International Publishing}, series = {Springer Proceedings in Advanced Robotics}, volume = 1, doi = {10.1007/978-3-319-51532-8}, editor = {Bicchi, Antonio and Burgard, Wolfram}, } @inproceedings{Huang2019ICRA, title = {Visual-Inertial Navigation: A Concise Review}, author = {Guoquan Huang}, year = 2019, month = may, booktitle = {Proc. International Conference on Robotics and Automation}, address = {Montreal, Canada}, } @conference{Latif2014ICRAws, title = {Applying Sparse l1 Optimization to Problems in Robotics}, author = {Yasir Latif and Guoquan Huang and John Leonard and Jose Neira}, year = 2014, month = jun, booktitle = {Proc. of the Long Term Autonomy Workshop at ICRA 2014}, address = {Hong Kong, China}, } @inproceedings{Latif2014RSS, title = {An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation}, author = {Yasir Latif and Guoquan Huang and John Leonard and Jose Neira}, year = 2014, month = jul, booktitle = {Proc. of the Robotics: Science and Systems Conference}, address = {Berkeley, CA}, } @article{Latif2017RAS, title = {Sparse Optimization for Robust and Efficient Loop Closing}, author = {Yasir Latif and Guoquan Huang and John Leonard and Jose Neira}, year = 2017, month = jul, journal = {Robotics and Autonomous Systems}, volume = 93, pages = {13--26}, } @inproceedings{Lee2020ICRA, title = {Intermittent GPS-aided VIO: Online Initialization and Calibration}, author = {Woosik Lee and Kevin Eckenhoff and Patrick Geneva and Guoquan Huang}, year = 2020, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Paris, France}, } @inproceedings{Lee2020IROS, title = {Visual-Inertial-Wheel Odometry with Online Calibration}, author = {Woosik Lee and Kevin Eckenhoff and Yulin Yang and Patrick Geneva and Guoquan Huang}, year = 2020, booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems}, address = {Las Vegas, NV}, } @inproceedings{Lee2021ICRA, title = {Efficient Multi-sensor Aided Inertial Navigation with Online Calibration}, author = {Woosik Lee and Yulin Yang and Guoquan Huang}, year = 2021, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Xi'an, China}, } @inproceedings{Lee2022ICRA, title = {Tightly-coupled GNSS-aided Visual-Inertial Localization}, author = {Woosik Lee and Patrick Geneva and Yulin Yang and Guoquan Huang}, year = 2022, booktitle = {International Conference on Robotics and Automation (ICRA)}, address = {Philadelphia, USA}, } @inproceedings{LI2017ACC, title = {Gyro-Aided Camera-Odometer Online Calibration and Localization}, author = {Dongxuan Li and Kevin Eckenhoff and Kanzhi Wu and Yue Wang and Rong Xiong and Guoquan Huang}, year = 2017, month = may, booktitle = {Proc. of the American Control Conference}, address = {Seattle, WA}, pages = {3579--3586}, } @article{Lv2022TRO, title = {Observability-Aware Intrinsic and Extrinsic Calibration of LiDAR-IMU Systems}, author = {Jiajun Lv and Xingxing Zuo and Kewei Hu and Jinhong Xu and Guoquan Huang and Yong Liu}, year = 2022, month = apr, journal = {IEEE Transactions on Robotics}, } @conference{Maley2017JNC, title = {Light {EKF}-Based Visual-Inertial Navigation}, author = {James Maley and Kevin Eckenhoff and Guoquan Huang}, year = 2017, month = jun, booktitle = {Joint Navigation Conference}, address = {Dayton, OH}, } @techreport{Maley2017TR, title = {Generalized Optimal-State-Constraint Extended Kalman Filter {(OSC-EKF)}}, author = {James Maley and Kevin Eckenhoff and Guoquan Huang}, year = 2017, month = feb, number = {ARL-TR-7948}, institution = {U.S. Army Research Laboratory}, } @inproceedings{Maley2018IROS, title = {Unit Quaternion-based Parameterization for Point Features in Visual Navigation}, author = {James Maley and Guoquan Huang}, year = 2018, month = oct, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems}, address = {Madrid, Spain}, } @inproceedings{Merrill2018RSS, title = {Lightweight Unsupervised Deep Loop Closure}, author = {Nathaniel Merrill and Guoquan Huang}, year = 2018, month = jun, booktitle = {Proc. of Robotics: Science and Systems (RSS)}, address = {Pittsburgh, PA}, } @inproceedings{Merrill2019IROS, title = {{CALC2.0}: Combining Appearance, Semantic and Geometric Information for Robust and Efficient Visual Loop Closure}, author = {Nathaniel Merrill and Guoquan Huang}, year = 2019, month = nov, booktitle = {2019 International Conference on Intelligent Robots and Systems (IROS)}, address = {Macau, China}, } @inproceedings{Merrill2021ICRA, title = {Robust Monocular Visual-Inertial Depth Completion for Embedded Systems}, author = {Nate Merrill and Patrick Geneva and Guoquan Huang}, year = 2021, booktitle = {Proc. of the IEEE International Conference on Robotics and Automation}, address = {Xi'an, China}, } @inproceedings{Merrill2022CVPR, title = {Symmetry and Uncertainty-Aware Object SLAM for 6DoF Object Pose Estimation}, author = {Nate Merrill and Yanliang Guo and Xinyue Huang and Xingxing Zuo and Stephen Leutenegger and Liu Ren and Guoquan Huang}, year = 2022, month = jun, booktitle = {Proc. 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